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          <span>Planning Framework</span>
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<li class="toctree-l1"><a class="reference internal" href="../getting_started/getting_started.html">Getting Started</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../getting_started/getting_started.html#install-ros-and-catkin">Install ROS and Catkin</a></li>
<li class="toctree-l2"><a class="reference internal" href="../getting_started/getting_started.html#install-moveit">Install MoveIt!</a></li>
<li class="toctree-l2"><a class="reference internal" href="../getting_started/getting_started.html#create-a-catkin-workspace">Create A Catkin Workspace</a></li>
<li class="toctree-l2"><a class="reference internal" href="../getting_started/getting_started.html#download-the-example-code">Download the Example Code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../getting_started/getting_started.html#build-your-catkin-workspace">Build your Catkin Workspace</a></li>
<li class="toctree-l2"><a class="reference internal" href="../getting_started/getting_started.html#next-step">Next Step</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html">MoveIt! Quickstart in RViz</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#step-1-launch-the-demo-and-configure-the-plugin">Step 1: Launch the Demo and Configure the Plugin</a></li>
<li class="toctree-l2"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#step-2-play-with-the-visualized-robots">Step 2: Play with the Visualized Robots</a></li>
<li class="toctree-l2"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#step-3-interact-with-the-panda">Step 3: Interact with the Panda</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#moving-into-collision">Moving into collision</a></li>
<li class="toctree-l3"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#moving-out-of-reachable-workspace">Moving out of Reachable Workspace</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#step-4-use-motion-planning-with-the-panda">Step 4: Use Motion Planning with the Panda</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#introspecting-trajectory-waypoints">Introspecting Trajectory Waypoints</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#next-steps">Next Steps</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#rviz-visual-tools">RViz Visual Tools</a></li>
<li class="toctree-l3"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#saving-your-configuration">Saving Your Configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../quickstart_in_rviz/quickstart_in_rviz_tutorial.html#next-tutorials">Next Tutorials</a></li>
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</ul>
<ul class="current">
<li class="toctree-l1"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html">Move Group C++ Interface</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#running-the-code">Running the Code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#expected-output">Expected Output</a></li>
<li class="toctree-l2"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#the-entire-code">The Entire Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#setup">Setup</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#visualization">Visualization</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#getting-basic-information">Getting Basic Information</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#start-the-demo">Start the demo</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#planning-to-a-pose-goal">Planning to a Pose goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#visualizing-plans">Visualizing plans</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#moving-to-a-pose-goal">Moving to a pose goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#planning-to-a-joint-space-goal">Planning to a joint-space goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#planning-with-path-constraints">Planning with Path Constraints</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#cartesian-paths">Cartesian Paths</a></li>
<li class="toctree-l3"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#adding-removing-objects-and-attaching-detaching-objects">Adding/Removing Objects and Attaching/Detaching Objects</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../move_group_interface/move_group_interface_tutorial.html#the-launch-file">The Launch File</a></li>
</ul>
</li>
<li class="toctree-l1 current"><a class="current reference internal" href="">Move Group Python Interface</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="#start-rviz-and-movegroup-node">Start RViz and MoveGroup node</a></li>
<li class="toctree-l2"><a class="reference internal" href="#expected-output">Expected Output</a></li>
<li class="toctree-l2"><a class="reference internal" href="#the-entire-code">The Entire Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#getting-basic-information">Getting Basic Information</a></li>
<li class="toctree-l3"><a class="reference internal" href="#planning-to-a-joint-goal">Planning to a Joint Goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="#planning-to-a-pose-goal">Planning to a Pose Goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="#cartesian-paths">Cartesian Paths</a></li>
<li class="toctree-l3"><a class="reference internal" href="#displaying-a-trajectory">Displaying a Trajectory</a></li>
<li class="toctree-l3"><a class="reference internal" href="#executing-a-plan">Executing a Plan</a></li>
<li class="toctree-l3"><a class="reference internal" href="#adding-objects-to-the-planning-scene">Adding Objects to the Planning Scene</a></li>
<li class="toctree-l3"><a class="reference internal" href="#ensuring-collision-updates-are-receieved">Ensuring Collision Updates Are Receieved</a></li>
<li class="toctree-l3"><a class="reference internal" href="#attaching-objects-to-the-robot">Attaching Objects to the Robot</a></li>
<li class="toctree-l3"><a class="reference internal" href="#detaching-objects-from-the-robot">Detaching Objects from the Robot</a></li>
<li class="toctree-l3"><a class="reference internal" href="#removing-objects-from-the-planning-scene">Removing Objects from the Planning Scene</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="#the-launch-file">The Launch File</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../moveit_commander_scripting/moveit_commander_scripting_tutorial.html">MoveIt! Commander Scripting</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../moveit_commander_scripting/moveit_commander_scripting_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../moveit_commander_scripting/moveit_commander_scripting_tutorial.html#starting-rviz-and-the-command-line-tool">Starting RViz and the Command Line Tool</a></li>
<li class="toctree-l2"><a class="reference internal" href="../moveit_commander_scripting/moveit_commander_scripting_tutorial.html#using-the-moveit-commander-command-line-tool">Using the MoveIt! Commander Command Line Tool</a></li>
</ul>
</li>
</ul>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html">Robot Model and Robot State</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#the-robotmodel-and-robotstate-classes">The RobotModel and RobotState Classes</a></li>
<li class="toctree-l2"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#running-the-code">Running the Code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#expected-output">Expected Output</a></li>
<li class="toctree-l2"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#the-entire-code">The Entire Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#start">Start</a></li>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#get-joint-values">Get Joint Values</a></li>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#joint-limits">Joint Limits</a></li>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#forward-kinematics">Forward Kinematics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#inverse-kinematics">Inverse Kinematics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#get-the-jacobian">Get the Jacobian</a></li>
<li class="toctree-l3"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#the-launch-file">The Launch File</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html#debugging-the-robot-state">Debugging the Robot State</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html">Planning Scene</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#the-entire-code">The entire code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#setup">Setup</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#collision-checking">Collision Checking</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#self-collision-checking">Self-collision checking</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#change-the-state">Change the state</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#checking-for-a-group">Checking for a group</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#getting-contact-information">Getting Contact Information</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#modifying-the-allowed-collision-matrix">Modifying the Allowed Collision Matrix</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#full-collision-checking">Full Collision Checking</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#constraint-checking">Constraint Checking</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#checking-kinematic-constraints">Checking Kinematic Constraints</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#user-defined-constraints">User-defined constraints</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#the-launch-file">The launch file</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#running-the-code">Running the code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene/planning_scene_tutorial.html#expected-output">Expected Output</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html">Planning Scene ROS API</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#running-the-code">Running the code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#expected-output">Expected Output</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#the-entire-code">The entire code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#visualization">Visualization</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#ros-api">ROS API</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#advertise-the-required-topic">Advertise the required topic</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#define-the-attached-object-message">Define the attached object message</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#add-an-object-into-the-environment">Add an object into the environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates">Interlude: Synchronous vs Asynchronous updates</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#attach-an-object-to-the-robot">Attach an object to the robot</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#detach-an-object-from-the-robot">Detach an object from the robot</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#remove-the-object-from-the-collision-world">Remove the object from the collision world</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#the-launch-file">The launch file</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_scene_ros_api/planning_scene_ros_api_tutorial.html#debugging-the-planning-scene-monitor">Debugging the Planning Scene Monitor</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html">Motion Planning API</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#running-the-demo">Running the Demo</a></li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#expected-output">Expected Output</a></li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#the-entire-code">The Entire Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#start">Start</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#visualization">Visualization</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#pose-goal">Pose Goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#visualize-the-result">Visualize the result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#joint-space-goals">Joint Space Goals</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#adding-path-constraints">Adding Path Constraints</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_api/motion_planning_api_tutorial.html#the-launch-file">The Launch File</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html">Motion Planning Pipeline</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#running-the-code">Running the Code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#expected-output">Expected Output</a></li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#the-entire-code">The Entire Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#start">Start</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#visualization">Visualization</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#pose-goal">Pose Goal</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#visualize-the-result">Visualize the result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#joint-space-goals">Joint Space Goals</a></li>
<li class="toctree-l3"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#using-a-planning-request-adapter">Using a Planning Request Adapter</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#the-launch-file">The Launch File</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html">Visualizing Collisions</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#running-the-code">Running the Code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#classes">Classes</a></li>
<li class="toctree-l2"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#interacting">Interacting</a></li>
<li class="toctree-l2"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#relevant-code">Relevant Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#initializing-the-planning-scene-and-markers">Initializing the Planning Scene and Markers</a></li>
<li class="toctree-l3"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#collision-requests">Collision Requests</a></li>
<li class="toctree-l3"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#checking-for-collisions">Checking for Collisions</a></li>
<li class="toctree-l3"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#displaying-collision-contact-points">Displaying Collision Contact Points</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../visualizing_collisions/visualizing_collisions_tutorial.html#launch-file">Launch file</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../time_parameterization/time_parameterization_tutorial.html">Time Parameterization</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../time_parameterization/time_parameterization_tutorial.html#speed-control">Speed Control</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../time_parameterization/time_parameterization_tutorial.html#from-file">From File</a></li>
<li class="toctree-l3"><a class="reference internal" href="../time_parameterization/time_parameterization_tutorial.html#during-runtime">During Runtime</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../time_parameterization/time_parameterization_tutorial.html#time-parameterization-algorithms">Time Parameterization Algorithms</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html">Planning with Approximated Constraint Manifolds</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#creating-the-constraint-database">Creating the Constraint Database</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#constraints-message">Constraints message</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#construction-options">Construction Options</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#graph-size">Graph size</a></li>
<li class="toctree-l4"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#edges">Edges</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#database-construction">Database Construction</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html#database-loading-and-usage">Database Loading and Usage</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../pick_place/pick_place_tutorial.html">Pick and Place Tutorial</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#running-the-demo">Running The Demo</a></li>
<li class="toctree-l2"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#understanding-moveit-msgs-grasp">Understanding <tt class="docutils literal"><span class="pre">moveit_msgs::Grasp</span></tt></a></li>
<li class="toctree-l2"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#the-entire-code">The Entire Code</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#creating-environment">Creating Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#pick-pipeline">Pick Pipeline</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-grasp-pose">Setting grasp pose</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-pre-grasp-approach">Setting pre-grasp approach</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-post-grasp-retreat">Setting post-grasp retreat</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-posture-of-eef-before-grasp">Setting posture of eef before grasp</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-posture-of-eef-during-grasp">Setting posture of eef during grasp</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#place-pipeline">Place Pipeline</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-place-location-pose">Setting place location pose</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-pre-place-approach">Setting pre-place approach</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#id2">Setting post-grasp retreat</a></li>
<li class="toctree-l4"><a class="reference internal" href="../pick_place/pick_place_tutorial.html#setting-posture-of-eef-after-placing-object">Setting posture of eef after placing object</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
</ul>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html">MoveIt! Setup Assistant</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#overview">Overview</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-1-start">Step 1: Start</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-2-generate-self-collision-matrix">Step 2: Generate Self-Collision Matrix</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-3-add-virtual-joints">Step 3: Add Virtual Joints</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-4-add-planning-groups">Step 4: Add Planning Groups</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-5-add-robot-poses">Step 5: Add Robot Poses</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-6-label-end-effectors">Step 6: Label End Effectors</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-7-add-passive-joints">Step 7: Add Passive Joints</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-8-3d-perception">Step 8: 3D Perception</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-9-gazebo-simulation">Step 9: Gazebo Simulation</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-10-ros-control">Step 10: ROS Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-11-add-author-information">Step 11: Add Author Information</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#step-12-generate-configuration-files">Step 12: Generate Configuration Files</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#what-s-next">What&#8217;s Next</a></li>
<li class="toctree-l2"><a class="reference internal" href="../setup_assistant/setup_assistant_tutorial.html#additional-reading">Additional Reading</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html">URDF and SRDF</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#urdf">URDF</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#urdf-resources">URDF Resources</a></li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#important-tips">Important Tips</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#special-characters-in-joint-names">Special Characters in Joint Names</a></li>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#safety-limits">Safety Limits</a></li>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#collision-checking">Collision Checking</a></li>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#test-your-urdf">Test your URDF</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#urdf-examples">URDF Examples</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#srdf">SRDF</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#virtual-joints">Virtual Joints</a></li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#passive-joints">Passive Joints</a></li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#groups">Groups</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#collection-of-joints">Collection of Joints</a></li>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#collection-of-links">Collection of Links</a></li>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#serial-chain">Serial Chain</a></li>
<li class="toctree-l4"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#collection-of-sub-groups">Collection of Sub-Groups</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#end-effectors">End-Effectors</a></li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#self-collisions">Self-Collisions</a></li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#robot-poses">Robot Poses</a></li>
<li class="toctree-l3"><a class="reference internal" href="../urdf_srdf/urdf_srdf_tutorial.html#srdf-documentation">SRDF Documentation</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../controller_configuration/controller_configuration_tutorial.html">Low Level Controllers</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../controller_configuration/controller_configuration_tutorial.html#yaml-configuration">YAML Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../controller_configuration/controller_configuration_tutorial.html#followjointtrajectory-controller-interface">FollowJointTrajectory Controller Interface</a></li>
<li class="toctree-l2"><a class="reference internal" href="../controller_configuration/controller_configuration_tutorial.html#grippercommand-controller-interface">GripperCommand Controller Interface</a></li>
<li class="toctree-l2"><a class="reference internal" href="../controller_configuration/controller_configuration_tutorial.html#optional-allowed-trajectory-execution-duration-parameters">Optional Allowed Trajectory Execution Duration Parameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="../controller_configuration/controller_configuration_tutorial.html#create-the-controller-launch-file">Create the Controller launch file</a></li>
<li class="toctree-l2"><a class="reference internal" href="../controller_configuration/controller_configuration_tutorial.html#debugging-information">Debugging Information</a></li>
<li class="toctree-l2"><a class="reference internal" href="../controller_configuration/controller_configuration_tutorial.html#remapping-joint-states-topic">Remapping /joint_states topic</a></li>
<li class="toctree-l2"><a class="reference internal" href="../controller_configuration/controller_configuration_tutorial.html#trajectory-execution-manager-options">Trajectory Execution Manager Options</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html">Perception Pipeline Tutorial</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#configuration">Configuration</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#yaml-configuration-file-point-cloud">YAML Configuration file (Point Cloud)</a></li>
<li class="toctree-l3"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#yaml-configuration-file-depth-map">YAML Configuration file (Depth Map)</a></li>
<li class="toctree-l3"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#update-the-launch-file">Update the launch file</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#add-the-yaml-file-to-the-launch-script">Add the YAML file to the launch script</a></li>
<li class="toctree-l4"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#octomap-configuration">Octomap Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#obstacle-avoidance">Obstacle Avoidance</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#running-the-interface">Running the Interface</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#detecting-and-adding-object-as-collision-object">Detecting and Adding Object as Collision Object</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#running-the-code">Running the Code</a></li>
<li class="toctree-l3"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#relevant-code">Relevant Code</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#perception-related">Perception Related</a></li>
<li class="toctree-l4"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#storing-relevant-cylinder-values">Storing Relevant Cylinder Values</a></li>
<li class="toctree-l4"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#extracting-location-and-height">Extracting Location and Height</a></li>
<li class="toctree-l4"><a class="reference internal" href="../perception_pipeline/perception_pipeline_tutorial.html#adding-cylinder-to-planning-scene">Adding Cylinder to Planning Scene</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../ikfast/ikfast_tutorial.html">IKFast Kinematics Solver</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#what-is-ikfast">What is IKFast?</a></li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#moveit-ikfast">MoveIt! IKFast</a></li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#moveit-ikfast-installation">MoveIt! IKFast Installation</a></li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#openrave-installation">OpenRAVE Installation</a></li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#create-collada-file-for-use-with-openrave">Create Collada File For Use With OpenRAVE</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#parameters">Parameters</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#create-ikfast-solution-cpp-file">Create IKFast Solution CPP File</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#select-ik-type">Select IK Type</a></li>
<li class="toctree-l3"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#choose-planning-group">Choose Planning Group</a></li>
<li class="toctree-l3"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#identify-link-numbers">Identify Link Numbers</a></li>
<li class="toctree-l3"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#generate-ik-solver">Generate IK Solver</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#create-plugin">Create Plugin</a></li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#usage">Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#test-the-plugin">Test the Plugin</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../ikfast/ikfast_tutorial.html#updating-the-plugin">Updating the Plugin</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../trac_ik/trac_ik_tutorial.html">TRAC-IK Kinematics Solver</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../trac_ik/trac_ik_tutorial.html#install">Install</a></li>
<li class="toctree-l2"><a class="reference internal" href="../trac_ik/trac_ik_tutorial.html#usage">Usage</a></li>
</ul>
</li>
</ul>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../kinematics_configuration/kinematics_configuration_tutorial.html">Kinematics Configuration</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../kinematics_configuration/kinematics_configuration_tutorial.html#the-kinematics-yaml-file">The kinematics.yaml file</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../kinematics_configuration/kinematics_configuration_tutorial.html#parameters">Parameters</a></li>
<li class="toctree-l3"><a class="reference internal" href="../kinematics_configuration/kinematics_configuration_tutorial.html#the-kdl-kinematics-plugin">The KDL Kinematics Plugin</a></li>
<li class="toctree-l3"><a class="reference internal" href="../kinematics_configuration/kinematics_configuration_tutorial.html#the-lma-kinematics-plugin">The LMA Kinematics Plugin</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../kinematics_configuration/kinematics_configuration_tutorial.html#position-only-ik">Position Only IK</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../fake_controller_manager/fake_controller_manager_tutorial.html">Fake Controller Manager</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../fake_controller_manager/fake_controller_manager_tutorial.html#yaml-file-examples">YAML file examples</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../custom_constraint_samplers/custom_constraint_samplers_tutorial.html">Custom Constraint Samplers</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../custom_constraint_samplers/custom_constraint_samplers_tutorial.html#overview">Overview</a></li>
<li class="toctree-l2"><a class="reference internal" href="../custom_constraint_samplers/custom_constraint_samplers_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../custom_constraint_samplers/custom_constraint_samplers_tutorial.html#creating-a-constraint-sampler">Creating a constraint sampler</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html">OMPL Planner</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html#ompl-settings">OMPL Settings</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html#longest-valid-segment-fraction">Longest Valid Segment Fraction</a></li>
<li class="toctree-l3"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html#projection-evaluator">Projection Evaluator</a></li>
<li class="toctree-l3"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html#enforce-planning-in-joint-space">Enforce Planning in Joint Space</a></li>
<li class="toctree-l3"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html#other-settings">Other Settings</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html#smoothing-paths">Smoothing Paths</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html#determinism">Determinism</a></li>
<li class="toctree-l3"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html#ompl-optimization-objectives">OMPL Optimization Objectives</a></li>
<li class="toctree-l3"><a class="reference internal" href="../ompl_interface/ompl_interface_tutorial.html#post-processing-smoothing">Post-Processing Smoothing</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../chomp_planner/chomp_planner_tutorial.html">CHOMP Planner</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../chomp_planner/chomp_planner_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../chomp_planner/chomp_planner_tutorial.html#prerequisites">Prerequisites</a></li>
<li class="toctree-l2"><a class="reference internal" href="../chomp_planner/chomp_planner_tutorial.html#using-chomp-with-your-robot">Using CHOMP with Your Robot</a></li>
<li class="toctree-l2"><a class="reference internal" href="../chomp_planner/chomp_planner_tutorial.html#running-the-demo">Running the Demo</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../chomp_planner/chomp_planner_tutorial.html#running-chomp-with-obstacles-in-the-scene">Running CHOMP with Obstacles in the Scene</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../chomp_planner/chomp_planner_tutorial.html#tweaking-some-of-the-parameters-for-chomp">Tweaking some of the parameters for CHOMP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../chomp_planner/chomp_planner_tutorial.html#difference-between-plans-obtained-by-chomp-and-ompl">Difference between plans obtained by CHOMP and OMPL</a></li>
<li class="toctree-l2"><a class="reference internal" href="../chomp_planner/chomp_planner_tutorial.html#using-ompl-as-a-pre-processor-for-chomp">Using OMPL as a pre-processor for CHOMP</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html">STOMP Planner</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#prerequisites">Prerequisites</a></li>
<li class="toctree-l2"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#installing-moveit-from-source">Installing MoveIt! from Source</a></li>
<li class="toctree-l2"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#using-stomp-with-your-robot">Using STOMP with Your Robot</a></li>
<li class="toctree-l2"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#running-the-demo">Running the Demo</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#running-stomp-with-obstacles-in-the-scene">Running STOMP with Obstacles in the Scene</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#tweaking-some-of-the-parameters-for-stomp">Tweaking some of the parameters for STOMP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#difference-between-plans-obtained-by-stomp-chomp-and-ompl">Difference between plans obtained by STOMP, CHOMP and OMPL</a></li>
<li class="toctree-l2"><a class="reference internal" href="../stomp_planner/stomp_planner_tutorial.html#running-stomp-unit-tests">Running STOMP Unit Tests</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html">Planning Adapter Tutorials</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#prerequisites">Prerequisites</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#installing-moveit-from-source">Installing MoveIt! from Source</a></li>
<li class="toctree-l2"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#using-planning-request-adapter-with-your-motion-planner">Using Planning Request Adapter with Your Motion Planner</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#running-ompl-as-a-pre-processor-for-chomp">Running OMPL as a pre-processor for CHOMP</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#running-chomp-as-a-post-processor-for-stomp">Running CHOMP as a post-processor for STOMP</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#running-ompl-as-a-pre-processor-for-stomp">Running OMPL as a pre-processor for STOMP</a></li>
<li class="toctree-l3"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#running-stomp-as-a-post-processor-for-chomp">Running STOMP as a post-processor for CHOMP</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../planning_adapters/planning_adapters_tutorial.html#planning-insights-for-different-motion-planners-and-planners-with-planning-adapters">Planning Insights for different motion planners and planners with planning adapters</a></li>
</ul>
</li>
</ul>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../joystick_control_teleoperation/joystick_control_teleoperation_tutorial.html">Joystick Control Teleoperation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../joystick_control_teleoperation/joystick_control_teleoperation_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../joystick_control_teleoperation/joystick_control_teleoperation_tutorial.html#running-the-code">Running the Code</a></li>
<li class="toctree-l2"><a class="reference internal" href="../joystick_control_teleoperation/joystick_control_teleoperation_tutorial.html#joystick-command-mappings">Joystick Command Mappings</a></li>
<li class="toctree-l2"><a class="reference internal" href="../joystick_control_teleoperation/joystick_control_teleoperation_tutorial.html#debugging">Debugging</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html">Benchmarking</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#example">Example</a></li>
<li class="toctree-l2"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#viewing-results">Viewing Results</a></li>
<li class="toctree-l2"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#parameters-of-the-benchmarkoptions-class">Parameters of the BenchmarkOptions Class</a></li>
<li class="toctree-l2"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#parameters-of-the-benchmarkexecutor-class">Parameters of the BenchmarkExecutor Class</a></li>
<li class="toctree-l2"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#benchmarking-of-different-motion-planners-chomp-stomp-and-ompl">Benchmarking of Different Motion Planners: CHOMP, STOMP and OMPL</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#benchmarking-in-a-scene-without-obstacles">Benchmarking in a scene without obstacles</a></li>
<li class="toctree-l3"><a class="reference internal" href="../benchmarking/benchmarking_tutorial.html#benchmarking-in-a-scene-with-obstacles">Benchmarking in a scene with obstacles</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../tests/tests_tutorial.html">Integration/Unit Tests</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../tests/tests_tutorial.html#getting-started">Getting Started</a></li>
<li class="toctree-l2"><a class="reference internal" href="../tests/tests_tutorial.html#integration-test">Integration Test</a></li>
<li class="toctree-l2"><a class="reference internal" href="../tests/tests_tutorial.html#test-robots">Test Robots</a></li>
<li class="toctree-l2"><a class="reference internal" href="../tests/tests_tutorial.html#unit-tests">Unit Tests</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../tests/tests_tutorial.html#writing-unit-tests">Writing Unit Tests</a></li>
<li class="toctree-l3"><a class="reference internal" href="../tests/tests_tutorial.html#running-unit-tests">Running Unit Tests</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../tests/tests_tutorial.html#kinematic-tests">Kinematic Tests</a></li>
<li class="toctree-l2"><a class="reference internal" href="../tests/tests_tutorial.html#code-coverage">Code Coverage</a></li>
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             <!-- <div class="admonition note">  -->
               <!-- <p class="first admonition-title">Code Used in this Tutorial Available</p>  -->
               <!-- <p class="last">Code can be found at <a href = "https://github.com/ros-planning/moveit_tutorials">moveit_tutorials repository</a> in doc folder. Use melodic-devel branch.</p> -->
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  <div class="section" id="move-group-python-interface">
<h1>Move Group Python Interface<a class="headerlink" href="#move-group-python-interface" title="Permalink to this headline">¶</a></h1>
<a class="reference internal image-reference" href="../../_images/move_group_python_interface.png"><img alt="../../_images/move_group_python_interface.png" src="../../_images/move_group_python_interface.png" style="width: 700px;" /></a>
<p>One of the simplest MoveIt! user interfaces is through the Python-based Move Group Interface. These wrappers
provide functionality for most operations that the average user will likely need,
specifically setting joint or pose goals, creating motion plans, moving the
robot, adding objects into the environment and attaching/detaching objects from
the robot.</p>
<p>Watch this quick <a class="reference external" href="https://youtu.be/3MA5ebXPLsc">YouTube video demo</a> to see the power of the Move Group Python interface!</p>
<div class="section" id="getting-started">
<h2>Getting Started<a class="headerlink" href="#getting-started" title="Permalink to this headline">¶</a></h2>
<p>If you haven&#8217;t already done so, make sure you&#8217;ve completed the steps in <a class="reference external" href="../getting_started/getting_started.html">Getting Started</a>.</p>
</div>
<div class="section" id="start-rviz-and-movegroup-node">
<h2>Start RViz and MoveGroup node<a class="headerlink" href="#start-rviz-and-movegroup-node" title="Permalink to this headline">¶</a></h2>
<p>Open two shells. Start RViz and wait for everything to finish loading in the first shell:</p>
<div class="highlight-python"><div class="highlight"><pre>roslaunch panda_moveit_config demo.launch
</pre></div>
</div>
<p>Now run the Python code directly in the other shell using <tt class="docutils literal"><span class="pre">rosrun</span></tt>.
Note in some instances you may need to make the python script executable:</p>
<div class="highlight-python"><div class="highlight"><pre>rosrun moveit_tutorials move_group_python_interface_tutorial.py
</pre></div>
</div>
</div>
<div class="section" id="expected-output">
<h2>Expected Output<a class="headerlink" href="#expected-output" title="Permalink to this headline">¶</a></h2>
<p>In RViz, we should be able to see the following:</p>
<dl class="docutils">
<dt>Press <em>&lt;enter&gt;</em> in the shell terminal where you ran the <tt class="docutils literal"><span class="pre">rosrun</span></tt> command in between each step</dt>
<dd><ol class="first last arabic simple">
<li>The robot plans and moves its arm to the joint goal.</li>
<li>The robot plans a path to a pose goal.</li>
<li>The robot plans a Cartesian path.</li>
<li>The robot displays the Cartesian path plan again.</li>
<li>The robot executes the Cartesian path plan.</li>
<li>A box appears at the location of the Panda end effector.</li>
<li>The box changes colors to indicate that it is now attached.</li>
<li>The robot plans and executes a Cartesian path with the box attached.</li>
<li>The box changes colors again to indicate that it is now detached.</li>
<li>The box disappears.</li>
</ol>
</dd>
</dl>
</div>
<div class="section" id="the-entire-code">
<h2>The Entire Code<a class="headerlink" href="#the-entire-code" title="Permalink to this headline">¶</a></h2>
<p>Note: the entire code can be seen <a class="reference external" href="https://github.com/ros-planning/moveit_tutorials/tree/melodic-devel/doc/move_group_python_interface/scripts/move_group_python_interface_tutorial.py">here in the tutorials GitHub repository</a>.</p>
<p>To use the Python MoveIt! interfaces, we will import the <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_commander/html/namespacemoveit__commander.html">moveit_commander</a> namespace.
This namespace provides us with a <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1move__group_1_1MoveGroupCommander.html">MoveGroupCommander</a> class, a <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1planning__scene__interface_1_1PlanningSceneInterface.html">PlanningSceneInterface</a> class,
and a <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1robot_1_1RobotCommander.html">RobotCommander</a> class. (More on these below)</p>
<p>We also import <a class="reference external" href="http://docs.ros.org/melodic/api/rospy/html/">rospy</a> and some messages that we will use:</p>
<div class="highlight-python"><div class="highlight"><pre><span class="kn">import</span> <span class="nn">sys</span>
<span class="kn">import</span> <span class="nn">copy</span>
<span class="kn">import</span> <span class="nn">rospy</span>
<span class="kn">import</span> <span class="nn">moveit_commander</span>
<span class="kn">import</span> <span class="nn">moveit_msgs.msg</span>
<span class="kn">import</span> <span class="nn">geometry_msgs.msg</span>
<span class="kn">from</span> <span class="nn">math</span> <span class="kn">import</span> <span class="n">pi</span>
<span class="kn">from</span> <span class="nn">std_msgs.msg</span> <span class="kn">import</span> <span class="n">String</span>
<span class="kn">from</span> <span class="nn">moveit_commander.conversions</span> <span class="kn">import</span> <span class="n">pose_to_list</span>
</pre></div>
</div>
<p>First initialize <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_commander/html/namespacemoveit__commander.html">moveit_commander</a> and a <a class="reference external" href="http://docs.ros.org/melodic/api/rospy/html/">rospy</a> node:</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">moveit_commander</span><span class="o">.</span><span class="n">roscpp_initialize</span><span class="p">(</span><span class="n">sys</span><span class="o">.</span><span class="n">argv</span><span class="p">)</span>
<span class="n">rospy</span><span class="o">.</span><span class="n">init_node</span><span class="p">(</span><span class="s">&#39;move_group_python_interface_tutorial&#39;</span><span class="p">,</span> <span class="n">anonymous</span><span class="o">=</span><span class="bp">True</span><span class="p">)</span>
</pre></div>
</div>
<p>Instantiate a <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1robot_1_1RobotCommander.html">RobotCommander</a> object. Provides information such as the robot&#8217;s
kinematic model and the robot&#8217;s current joint states</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">robot</span> <span class="o">=</span> <span class="n">moveit_commander</span><span class="o">.</span><span class="n">RobotCommander</span><span class="p">()</span>
</pre></div>
</div>
<p>Instantiate a <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1planning__scene__interface_1_1PlanningSceneInterface.html">PlanningSceneInterface</a> object.  This provides a remote interface
for getting, setting, and updating the robot&#8217;s internal understanding of the
surrounding world:</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">scene</span> <span class="o">=</span> <span class="n">moveit_commander</span><span class="o">.</span><span class="n">PlanningSceneInterface</span><span class="p">()</span>
</pre></div>
</div>
<p>Instantiate a <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1move__group_1_1MoveGroupCommander.html">MoveGroupCommander</a> object.  This object is an interface
to a planning group (group of joints).  In this tutorial the group is the primary
arm joints in the Panda robot, so we set the group&#8217;s name to &#8220;panda_arm&#8221;.
If you are using a different robot, change this value to the name of your robot
arm planning group.
This interface can be used to plan and execute motions:</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">group_name</span> <span class="o">=</span> <span class="s">&quot;panda_arm&quot;</span>
<span class="n">move_group</span> <span class="o">=</span> <span class="n">moveit_commander</span><span class="o">.</span><span class="n">MoveGroupCommander</span><span class="p">(</span><span class="n">group_name</span><span class="p">)</span>
</pre></div>
</div>
<p>Create a <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_msgs/html/msg/DisplayTrajectory.html">DisplayTrajectory</a> ROS publisher which is used to display
trajectories in Rviz:</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">display_trajectory_publisher</span> <span class="o">=</span> <span class="n">rospy</span><span class="o">.</span><span class="n">Publisher</span><span class="p">(</span><span class="s">&#39;/move_group/display_planned_path&#39;</span><span class="p">,</span>
                                               <span class="n">moveit_msgs</span><span class="o">.</span><span class="n">msg</span><span class="o">.</span><span class="n">DisplayTrajectory</span><span class="p">,</span>
                                               <span class="n">queue_size</span><span class="o">=</span><span class="mi">20</span><span class="p">)</span>
</pre></div>
</div>
<div class="section" id="getting-basic-information">
<h3>Getting Basic Information<a class="headerlink" href="#getting-basic-information" title="Permalink to this headline">¶</a></h3>
<div class="highlight-python"><div class="highlight"><pre><span class="c"># We can get the name of the reference frame for this robot:</span>
<span class="n">planning_frame</span> <span class="o">=</span> <span class="n">move_group</span><span class="o">.</span><span class="n">get_planning_frame</span><span class="p">()</span>
<span class="k">print</span> <span class="s">&quot;============ Planning frame: </span><span class="si">%s</span><span class="s">&quot;</span> <span class="o">%</span> <span class="n">planning_frame</span>

<span class="c"># We can also print the name of the end-effector link for this group:</span>
<span class="n">eef_link</span> <span class="o">=</span> <span class="n">move_group</span><span class="o">.</span><span class="n">get_end_effector_link</span><span class="p">()</span>
<span class="k">print</span> <span class="s">&quot;============ End effector link: </span><span class="si">%s</span><span class="s">&quot;</span> <span class="o">%</span> <span class="n">eef_link</span>

<span class="c"># We can get a list of all the groups in the robot:</span>
<span class="n">group_names</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">get_group_names</span><span class="p">()</span>
<span class="k">print</span> <span class="s">&quot;============ Available Planning Groups:&quot;</span><span class="p">,</span> <span class="n">robot</span><span class="o">.</span><span class="n">get_group_names</span><span class="p">()</span>

<span class="c"># Sometimes for debugging it is useful to print the entire state of the</span>
<span class="c"># robot:</span>
<span class="k">print</span> <span class="s">&quot;============ Printing robot state&quot;</span>
<span class="k">print</span> <span class="n">robot</span><span class="o">.</span><span class="n">get_current_state</span><span class="p">()</span>
<span class="k">print</span> <span class="s">&quot;&quot;</span>
</pre></div>
</div>
</div>
<div class="section" id="planning-to-a-joint-goal">
<h3>Planning to a Joint Goal<a class="headerlink" href="#planning-to-a-joint-goal" title="Permalink to this headline">¶</a></h3>
<p>The Panda&#8217;s zero configuration is at a <a class="reference external" href="https://www.quora.com/Robotics-What-is-meant-by-kinematic-singularity">singularity</a> so the first
thing we want to do is move it to a slightly better configuration.</p>
<div class="highlight-python"><div class="highlight"><pre><span class="c"># We can get the joint values from the group and adjust some of the values:</span>
<span class="n">joint_goal</span> <span class="o">=</span> <span class="n">move_group</span><span class="o">.</span><span class="n">get_current_joint_values</span><span class="p">()</span>
<span class="n">joint_goal</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
<span class="n">joint_goal</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="n">pi</span><span class="o">/</span><span class="mi">4</span>
<span class="n">joint_goal</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
<span class="n">joint_goal</span><span class="p">[</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="n">pi</span><span class="o">/</span><span class="mi">2</span>
<span class="n">joint_goal</span><span class="p">[</span><span class="mi">4</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
<span class="n">joint_goal</span><span class="p">[</span><span class="mi">5</span><span class="p">]</span> <span class="o">=</span> <span class="n">pi</span><span class="o">/</span><span class="mi">3</span>
<span class="n">joint_goal</span><span class="p">[</span><span class="mi">6</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>

<span class="c"># The go command can be called with joint values, poses, or without any</span>
<span class="c"># parameters if you have already set the pose or joint target for the group</span>
<span class="n">move_group</span><span class="o">.</span><span class="n">go</span><span class="p">(</span><span class="n">joint_goal</span><span class="p">,</span> <span class="n">wait</span><span class="o">=</span><span class="bp">True</span><span class="p">)</span>

<span class="c"># Calling ``stop()`` ensures that there is no residual movement</span>
<span class="n">move_group</span><span class="o">.</span><span class="n">stop</span><span class="p">()</span>
</pre></div>
</div>
</div>
<div class="section" id="planning-to-a-pose-goal">
<h3>Planning to a Pose Goal<a class="headerlink" href="#planning-to-a-pose-goal" title="Permalink to this headline">¶</a></h3>
<p>We can plan a motion for this group to a desired pose for the
end-effector:</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">pose_goal</span> <span class="o">=</span> <span class="n">geometry_msgs</span><span class="o">.</span><span class="n">msg</span><span class="o">.</span><span class="n">Pose</span><span class="p">()</span>
<span class="n">pose_goal</span><span class="o">.</span><span class="n">orientation</span><span class="o">.</span><span class="n">w</span> <span class="o">=</span> <span class="mf">1.0</span>
<span class="n">pose_goal</span><span class="o">.</span><span class="n">position</span><span class="o">.</span><span class="n">x</span> <span class="o">=</span> <span class="mf">0.4</span>
<span class="n">pose_goal</span><span class="o">.</span><span class="n">position</span><span class="o">.</span><span class="n">y</span> <span class="o">=</span> <span class="mf">0.1</span>
<span class="n">pose_goal</span><span class="o">.</span><span class="n">position</span><span class="o">.</span><span class="n">z</span> <span class="o">=</span> <span class="mf">0.4</span>

<span class="n">move_group</span><span class="o">.</span><span class="n">set_pose_target</span><span class="p">(</span><span class="n">pose_goal</span><span class="p">)</span>
</pre></div>
</div>
<p>Now, we call the planner to compute the plan and execute it.</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">plan</span> <span class="o">=</span> <span class="n">move_group</span><span class="o">.</span><span class="n">go</span><span class="p">(</span><span class="n">wait</span><span class="o">=</span><span class="bp">True</span><span class="p">)</span>
<span class="c"># Calling `stop()` ensures that there is no residual movement</span>
<span class="n">move_group</span><span class="o">.</span><span class="n">stop</span><span class="p">()</span>
<span class="c"># It is always good to clear your targets after planning with poses.</span>
<span class="c"># Note: there is no equivalent function for clear_joint_value_targets()</span>
<span class="n">move_group</span><span class="o">.</span><span class="n">clear_pose_targets</span><span class="p">()</span>
</pre></div>
</div>
</div>
<div class="section" id="cartesian-paths">
<h3>Cartesian Paths<a class="headerlink" href="#cartesian-paths" title="Permalink to this headline">¶</a></h3>
<p>You can plan a Cartesian path directly by specifying a list of waypoints
for the end-effector to go through. If executing  interactively in a
Python shell, set scale = 1.0.</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">waypoints</span> <span class="o">=</span> <span class="p">[]</span>

<span class="n">wpose</span> <span class="o">=</span> <span class="n">move_group</span><span class="o">.</span><span class="n">get_current_pose</span><span class="p">()</span><span class="o">.</span><span class="n">pose</span>
<span class="n">wpose</span><span class="o">.</span><span class="n">position</span><span class="o">.</span><span class="n">z</span> <span class="o">-=</span> <span class="n">scale</span> <span class="o">*</span> <span class="mf">0.1</span>  <span class="c"># First move up (z)</span>
<span class="n">wpose</span><span class="o">.</span><span class="n">position</span><span class="o">.</span><span class="n">y</span> <span class="o">+=</span> <span class="n">scale</span> <span class="o">*</span> <span class="mf">0.2</span>  <span class="c"># and sideways (y)</span>
<span class="n">waypoints</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">wpose</span><span class="p">))</span>

<span class="n">wpose</span><span class="o">.</span><span class="n">position</span><span class="o">.</span><span class="n">x</span> <span class="o">+=</span> <span class="n">scale</span> <span class="o">*</span> <span class="mf">0.1</span>  <span class="c"># Second move forward/backwards in (x)</span>
<span class="n">waypoints</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">wpose</span><span class="p">))</span>

<span class="n">wpose</span><span class="o">.</span><span class="n">position</span><span class="o">.</span><span class="n">y</span> <span class="o">-=</span> <span class="n">scale</span> <span class="o">*</span> <span class="mf">0.1</span>  <span class="c"># Third move sideways (y)</span>
<span class="n">waypoints</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">wpose</span><span class="p">))</span>

<span class="c"># We want the Cartesian path to be interpolated at a resolution of 1 cm</span>
<span class="c"># which is why we will specify 0.01 as the eef_step in Cartesian</span>
<span class="c"># translation.  We will disable the jump threshold by setting it to 0.0,</span>
<span class="c"># ignoring the check for infeasible jumps in joint space, which is sufficient</span>
<span class="c"># for this tutorial.</span>
<span class="p">(</span><span class="n">plan</span><span class="p">,</span> <span class="n">fraction</span><span class="p">)</span> <span class="o">=</span> <span class="n">move_group</span><span class="o">.</span><span class="n">compute_cartesian_path</span><span class="p">(</span>
                                   <span class="n">waypoints</span><span class="p">,</span>   <span class="c"># waypoints to follow</span>
                                   <span class="mf">0.01</span><span class="p">,</span>        <span class="c"># eef_step</span>
                                   <span class="mf">0.0</span><span class="p">)</span>         <span class="c"># jump_threshold</span>

<span class="c"># Note: We are just planning, not asking move_group to actually move the robot yet:</span>
<span class="k">return</span> <span class="n">plan</span><span class="p">,</span> <span class="n">fraction</span>
</pre></div>
</div>
</div>
<div class="section" id="displaying-a-trajectory">
<h3>Displaying a Trajectory<a class="headerlink" href="#displaying-a-trajectory" title="Permalink to this headline">¶</a></h3>
<p>You can ask RViz to visualize a plan (aka trajectory) for you. But the
group.plan() method does this automatically so this is not that useful
here (it just displays the same trajectory again):</p>
<p>A <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_msgs/html/msg/DisplayTrajectory.html">DisplayTrajectory</a> msg has two primary fields, trajectory_start and trajectory.
We populate the trajectory_start with our current robot state to copy over
any AttachedCollisionObjects and add our plan to the trajectory.</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">display_trajectory</span> <span class="o">=</span> <span class="n">moveit_msgs</span><span class="o">.</span><span class="n">msg</span><span class="o">.</span><span class="n">DisplayTrajectory</span><span class="p">()</span>
<span class="n">display_trajectory</span><span class="o">.</span><span class="n">trajectory_start</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">get_current_state</span><span class="p">()</span>
<span class="n">display_trajectory</span><span class="o">.</span><span class="n">trajectory</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">plan</span><span class="p">)</span>
<span class="c"># Publish</span>
<span class="n">display_trajectory_publisher</span><span class="o">.</span><span class="n">publish</span><span class="p">(</span><span class="n">display_trajectory</span><span class="p">);</span>
</pre></div>
</div>
</div>
<div class="section" id="executing-a-plan">
<h3>Executing a Plan<a class="headerlink" href="#executing-a-plan" title="Permalink to this headline">¶</a></h3>
<p>Use execute if you would like the robot to follow
the plan that has already been computed:</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">move_group</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span><span class="n">plan</span><span class="p">,</span> <span class="n">wait</span><span class="o">=</span><span class="bp">True</span><span class="p">)</span>
</pre></div>
</div>
<p><strong>Note:</strong> The robot&#8217;s current joint state must be within some tolerance of the
first waypoint in the <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_msgs/html/msg/RobotTrajectory.html">RobotTrajectory</a> or <tt class="docutils literal"><span class="pre">execute()</span></tt> will fail</p>
</div>
<div class="section" id="adding-objects-to-the-planning-scene">
<h3>Adding Objects to the Planning Scene<a class="headerlink" href="#adding-objects-to-the-planning-scene" title="Permalink to this headline">¶</a></h3>
<p>First, we will create a box in the planning scene at the location of the left finger:</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">box_pose</span> <span class="o">=</span> <span class="n">geometry_msgs</span><span class="o">.</span><span class="n">msg</span><span class="o">.</span><span class="n">PoseStamped</span><span class="p">()</span>
<span class="n">box_pose</span><span class="o">.</span><span class="n">header</span><span class="o">.</span><span class="n">frame_id</span> <span class="o">=</span> <span class="s">&quot;panda_leftfinger&quot;</span>
<span class="n">box_pose</span><span class="o">.</span><span class="n">pose</span><span class="o">.</span><span class="n">orientation</span><span class="o">.</span><span class="n">w</span> <span class="o">=</span> <span class="mf">1.0</span>
<span class="n">box_pose</span><span class="o">.</span><span class="n">pose</span><span class="o">.</span><span class="n">position</span><span class="o">.</span><span class="n">z</span> <span class="o">=</span> <span class="mf">0.07</span> <span class="c"># slightly above the end effector</span>
<span class="n">box_name</span> <span class="o">=</span> <span class="s">&quot;box&quot;</span>
<span class="n">scene</span><span class="o">.</span><span class="n">add_box</span><span class="p">(</span><span class="n">box_name</span><span class="p">,</span> <span class="n">box_pose</span><span class="p">,</span> <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">))</span>
</pre></div>
</div>
</div>
<div class="section" id="ensuring-collision-updates-are-receieved">
<h3>Ensuring Collision Updates Are Receieved<a class="headerlink" href="#ensuring-collision-updates-are-receieved" title="Permalink to this headline">¶</a></h3>
<p>If the Python node dies before publishing a collision object update message, the message
could get lost and the box will not appear. To ensure that the updates are
made, we wait until we see the changes reflected in the
<tt class="docutils literal"><span class="pre">get_attached_objects()</span></tt> and <tt class="docutils literal"><span class="pre">get_known_object_names()</span></tt> lists.
For the purpose of this tutorial, we call this function after adding,
removing, attaching or detaching an object in the planning scene. We then wait
until the updates have been made or <tt class="docutils literal"><span class="pre">timeout</span></tt> seconds have passed</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">start</span> <span class="o">=</span> <span class="n">rospy</span><span class="o">.</span><span class="n">get_time</span><span class="p">()</span>
<span class="n">seconds</span> <span class="o">=</span> <span class="n">rospy</span><span class="o">.</span><span class="n">get_time</span><span class="p">()</span>
<span class="k">while</span> <span class="p">(</span><span class="n">seconds</span> <span class="o">-</span> <span class="n">start</span> <span class="o">&lt;</span> <span class="n">timeout</span><span class="p">)</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">rospy</span><span class="o">.</span><span class="n">is_shutdown</span><span class="p">():</span>
  <span class="c"># Test if the box is in attached objects</span>
  <span class="n">attached_objects</span> <span class="o">=</span> <span class="n">scene</span><span class="o">.</span><span class="n">get_attached_objects</span><span class="p">([</span><span class="n">box_name</span><span class="p">])</span>
  <span class="n">is_attached</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">attached_objects</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span> <span class="o">&gt;</span> <span class="mi">0</span>

  <span class="c"># Test if the box is in the scene.</span>
  <span class="c"># Note that attaching the box will remove it from known_objects</span>
  <span class="n">is_known</span> <span class="o">=</span> <span class="n">box_name</span> <span class="ow">in</span> <span class="n">scene</span><span class="o">.</span><span class="n">get_known_object_names</span><span class="p">()</span>

  <span class="c"># Test if we are in the expected state</span>
  <span class="k">if</span> <span class="p">(</span><span class="n">box_is_attached</span> <span class="o">==</span> <span class="n">is_attached</span><span class="p">)</span> <span class="ow">and</span> <span class="p">(</span><span class="n">box_is_known</span> <span class="o">==</span> <span class="n">is_known</span><span class="p">):</span>
    <span class="k">return</span> <span class="bp">True</span>

  <span class="c"># Sleep so that we give other threads time on the processor</span>
  <span class="n">rospy</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
  <span class="n">seconds</span> <span class="o">=</span> <span class="n">rospy</span><span class="o">.</span><span class="n">get_time</span><span class="p">()</span>

<span class="c"># If we exited the while loop without returning then we timed out</span>
<span class="k">return</span> <span class="bp">False</span>
</pre></div>
</div>
</div>
<div class="section" id="attaching-objects-to-the-robot">
<h3>Attaching Objects to the Robot<a class="headerlink" href="#attaching-objects-to-the-robot" title="Permalink to this headline">¶</a></h3>
<p>Next, we will attach the box to the Panda wrist. Manipulating objects requires the
robot be able to touch them without the planning scene reporting the contact as a
collision. By adding link names to the <tt class="docutils literal"><span class="pre">touch_links</span></tt> array, we are telling the
planning scene to ignore collisions between those links and the box. For the Panda
robot, we set <tt class="docutils literal"><span class="pre">grasping_group</span> <span class="pre">=</span> <span class="pre">'hand'</span></tt>. If you are using a different robot,
you should change this value to the name of your end effector group name.</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">grasping_group</span> <span class="o">=</span> <span class="s">&#39;hand&#39;</span>
<span class="n">touch_links</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">get_link_names</span><span class="p">(</span><span class="n">group</span><span class="o">=</span><span class="n">grasping_group</span><span class="p">)</span>
<span class="n">scene</span><span class="o">.</span><span class="n">attach_box</span><span class="p">(</span><span class="n">eef_link</span><span class="p">,</span> <span class="n">box_name</span><span class="p">,</span> <span class="n">touch_links</span><span class="o">=</span><span class="n">touch_links</span><span class="p">)</span>
</pre></div>
</div>
</div>
<div class="section" id="detaching-objects-from-the-robot">
<h3>Detaching Objects from the Robot<a class="headerlink" href="#detaching-objects-from-the-robot" title="Permalink to this headline">¶</a></h3>
<p>We can also detach and remove the object from the planning scene:</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">scene</span><span class="o">.</span><span class="n">remove_attached_object</span><span class="p">(</span><span class="n">eef_link</span><span class="p">,</span> <span class="n">name</span><span class="o">=</span><span class="n">box_name</span><span class="p">)</span>
</pre></div>
</div>
</div>
<div class="section" id="removing-objects-from-the-planning-scene">
<h3>Removing Objects from the Planning Scene<a class="headerlink" href="#removing-objects-from-the-planning-scene" title="Permalink to this headline">¶</a></h3>
<p>We can remove the box from the world.</p>
<div class="highlight-python"><div class="highlight"><pre><span class="n">scene</span><span class="o">.</span><span class="n">remove_world_object</span><span class="p">(</span><span class="n">box_name</span><span class="p">)</span>
</pre></div>
</div>
<p><strong>Note:</strong> The object must be detached before we can remove it from the world</p>
</div>
</div>
<div class="section" id="the-launch-file">
<h2>The Launch File<a class="headerlink" href="#the-launch-file" title="Permalink to this headline">¶</a></h2>
<p>The entire launch file is <a class="reference external" href="https://github.com/ros-planning/moveit_tutorials/tree/melodic-devel/doc/move_group_python_interface/launch/move_group_python_interface_tutorial.launch">here</a>
on GitHub. All the code in this tutorial can be run from the
<tt class="docutils literal"><span class="pre">moveit_tutorials</span></tt> package that you have as part of your MoveIt! setup.</p>
</div>
</div>


            
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